Method of controlling robot apparatus, robot apparatus, and method of manufacturing article
US10702989B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jun 8, 2017 |
| Grant date | Jul 7, 2020 |
| Priority date | — |
| Expiry date | Feb 13, 2038 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH01R43/26
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot apparatus includes: a robotic arm provided with a robotic hand capable of changing its position and its orientation by using joints; a visual sensor which measures a position or an orientation of a gripped object gripped with the robotic hand at a measurement teaching point; and a control device. The control device controls the position or the orientation of the gripped object when the gripped object is attached to an attachment target object at a corrected teaching point corrected based on a measurement result by the visual sensor. In this case, the control device determines a measurement teaching point, where the measurement with the visual sensor takes place, such that a driving direction of each of the joints from the measurement teaching point to the corrected teaching point is set to a definite driving direction.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.